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6b9ad80757
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fix(命名空间): 修复Unitree SDK类型命名空间问题并重构PoseData
- 将ChannelSubscriberPtr改为unitree::robot::ChannelSubscriberPtr
- 重构PoseData结构为poseDate类，增加JSON序列化功能
- 更新相关代码以使用新的poseDate类
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2025-09-22 14:46:18 +08:00 |
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ccaf5f3513
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build: 更新导航头文件中的消息依赖
将std_msgs/msg/dds_/String_.hpp替换为unitree/idl/ros2/String_.hpp以使用统一的消息接口
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2025-09-22 14:40:38 +08:00 |
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ec6f4c0057
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feat(导航): 实现SLAM信息处理和导航状态管理
添加SLAM信息订阅处理功能，包括位姿更新和任务结果处理
引入PoseData结构体存储当前位姿信息
使用常量定义替换硬编码的API ID
增加导航状态管理功能(到达检测)
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2025-09-22 11:33:15 +08:00 |
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7101cbffa2
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refactor(controller): 移除未使用的运动控制接口
清理控制器头文件中不再使用的运动控制方法，包括BodyHeight、SwitchGait、ContinuousGait、MoveToPos和FastWalk，以简化接口并提高代码可维护性
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2025-09-21 15:19:23 +08:00 |
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1a9fc5f7e1
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refactor(navigation): 重构Navigation类继承unitree::robot::Client
移除不必要的client_成员变量，直接继承unitree::robot::Client类
简化初始化逻辑，更新相关文档说明
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2025-09-21 15:15:09 +08:00 |
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9585ae3df6
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refactor(config): 移除未使用的MQTT主题和安全设置
清理不再使用的MQTT主题配置(心跳、响应、错误)和命令超时设置，简化配置结构
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2025-09-21 14:50:13 +08:00 |
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dbbe63c7b1
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feat(controller): 添加运动切换命令处理和多种运动控制功能
添加对运动切换命令(CheckMode/SelectMode/ReleaseMode)的处理支持
在Controller类中新增多种运动控制功能接口
更新README文档以包含新增的运动切换命令和功能说明
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2025-09-21 14:40:11 +08:00 |
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b05086d03d
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fix: 将MotionSwitcherClient从go2命名空间更正为b2命名空间
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2025-09-21 12:41:09 +08:00 |
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fda1dd8204
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refactor: 更新 motion_switcher_client 的引用路径
将 motion_switcher_client 的引用从 go2 路径更新为 b2 路径，以匹配最新的库结构
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2025-09-21 12:35:11 +08:00 |
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f30590033b
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refactor(config): 重构配置系统和MQTT相关功能
移除状态发布功能，简化配置系统
更新MQTT配置和主题设置
调整README文档以反映最新变更
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2025-09-20 19:54:04 +08:00 |
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ae8b01cf24
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Remove Windows MQTT setup guide and update Navigation class to include custom namespace. Increment version in main application log message to v0.0.2.
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2025-09-20 19:11:31 +08:00 |
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38db96e433
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Add navigation functionality to CustomRobot and Controller classes. Introduced Navigation class for handling mapping and pose navigation commands. Updated CustomRobot to process navigation commands and manage Navigation instance. Enhanced Controller with motion switching capabilities, improving overall robot control and navigation features.
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2025-09-20 16:05:10 +08:00 |
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67b1a7fe80
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Add RSC command processing to CustomRobot class. Introduced processRscCmd method for handling service list queries and service switching commands, enhancing functionality. Added printServiceList method for improved service status reporting. Removed unused publishCmdResponse method to streamline code.
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2025-09-09 14:25:32 +08:00 |
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f46bb3b7c9
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Add command processing functionality to CustomRobot class. Introduced methods for handling OAC and Sport commands via MQTT messages, including validation and response publishing. Removed unnecessary logging statements for cleaner output.
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2025-09-09 11:15:03 +08:00 |
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cf58ad202a
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Refactor MQTT callback function names for consistency. Changed MessageCallback and ConnectionCallback to MessageCb and ConnectionCb in mqtt.hpp, mqtt.cpp, and custom_robot.cpp to improve code clarity and maintainability.
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2025-09-09 09:56:13 +08:00 |
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7a9a31afd4
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Integrate Paho MQTT C library into project. Updated CMakeLists.txt to find PahoMqttC package and added fallback for manual linking. Refactored mqtt.hpp and mqtt.cpp to utilize Paho MQTT C API, replacing previous async client implementation. Added Windows setup guide for MQTT library installation.
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2025-09-08 19:53:39 +08:00 |
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7f43d729a2
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Enhance CMake configuration and add nlohmann/json library files. Updated CMakeLists.txt to include the nlohmann JSON library directory. Added multiple header files for JSON serialization, deserialization, and utility functions, ensuring compatibility with the latest version 3.11.2. This update improves JSON handling capabilities in the project.
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2025-09-08 18:50:46 +08:00 |
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60a5490ec8
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Update MQTT configuration in config.hpp. Changed broker address to a specific IP and added username and password for authentication. Removed commented-out sections for clarity.
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2025-09-08 18:38:37 +08:00 |
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90228e4ab9
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Implement MQTT functionality in CustomRobot class. Added methods for MQTT initialization, message handling, and connection management. Updated configuration to remove multimedia settings and streamline MQTT-related parameters. Enhanced logging for MQTT operations and ensured proper cleanup during shutdown.
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2025-09-08 18:35:02 +08:00 |
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926d88972d
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Refactor configuration management by introducing CustomConfig class. Updated config.hpp to streamline settings and removed legacy configuration presets. Adjusted controller and custom_robot classes to utilize the new configuration structure. Enhanced error handling and logging during initialization processes.
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2025-09-08 18:16:50 +08:00 |
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f72ce9ce58
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Remove MQTT dependency and refactor configuration structure. Updated CMakeLists.txt to eliminate MQTT library checks and adjusted config.hpp to use string_view for configuration parameters. Simplified controller and custom_robot classes by removing MQTT-related code and enhancing robot state management. Introduced service management methods in CustomRobot for better state handling.
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2025-09-07 20:20:34 +08:00 |
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6acff483dd
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Add initial project structure with CMake configuration, source files, and README documentation for Unitree GO2 Custom Controller
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2025-09-07 16:43:22 +08:00 |
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